#include <ros/ros.h>
#include <geometry_msgs/Twist.h>

int main(int argc, char **argv)
{

    ros::init(argc, argv, "velocity_publisher");

    ros::NodeHandle n;
     ros::Publisher turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
 
       ros::Rate loop_rate(10);
 
    int count = 0;
    while (ros::ok())
    {
          geometry_msgs::Twist vel_msg;
        vel_msg.linear.x = 0.5;
        vel_msg.angular.z = 0.2;
        turtle_vel_pub.publish(vel_msg);
        ROS_INFO("Publsh turtle velocity command[%0.2f m/s, %0.2f rad/s]", 
                vel_msg.linear.x, vel_msg.angular.z);
        loop_rate.sleep();
    }
 
    return 0;
}
